Part of the [EMOS](https://github.com/automatika-robotics/emos) ecosystem [](https://opensource.org/licenses/MIT) [](https://www.python.org/downloads/) [](https://docs.ros.org/en/humble/index.html) [](https://discord.gg/B9ZU6qjzND) **The orchestration layer for event-driven ROS 2 systems** [**EMOS Documentation**](https://emos.automatikarobotics.com) | [**Developer Docs**](https://sugarcoat.automatikarobotics.com) | [**Discord**](https://discord.gg/B9ZU6qjzND)

What is Sugarcoat?

Sugarcoat is the orchestration layer of the EMOS (Embodied Operating System) ecosystem by Automatika Robotics. It is a meta-framework that replaces fragmented ROS2 development with a unified workflow, providing a high-level Python API to build robust lifecycle-managed components and orchestrate them into cohesive, self-healing systems using an event-driven architecture.

For full documentation, tutorials, and recipes, visit emos.automatikarobotics.com.

Key Features & Core Pillars

Dynamic Web UI for Sugarcoat Recipes

The Dynamic Web UI feature takes system visibility and control to the next level. Built with FastHTML and MonsterUI, it is designed to automatically generate a fully dynamic, extensible web interface for any Sugarcoat recipe, completely eliminating the need for manual front-end development.

Automatic UI Generation in Action

See how the Web UI effortlessly generates interfaces for different types of Sugarcoat recipes:

• Example 1: General Q&A MLLM Recipe A fully functional interface generated for an MLLM agent recipe from EmbodiedAgents, automatically providing controls for settings and real-time text I/O with the robot.

• Example 2: Point Navigation Recipe An example for an automatically generated UI for a point navigation system from Kompass. The UI automatically renders map data, and sends navigation goals to the robot.

What’s Inside?

• Automatic Settings UI: Interfaces for configuring the settings of all Components used in your recipe are generated on the fly.
• Auto I/O Visualization: Front-end controls and data visualizations for UI Inputs and Outputs are created automatically.
• WebSocket-Based Streaming: Features bidirectional, low-latency communication for streaming text, image, and audio messages.
• Responsive Layouts: Input and output elements are presented in clear, adaptable grid layouts.
• Extensible Design: Easily add support for new message types and custom visualizations through extensions.

Documentation

Installation

Sugarcoat is available for ROS versions Humble.

Using your Package Manager (Recommended)

On Ubuntu, for example:

sudo apt install ros-$ROS_DISTRO-automatika-ros-sugar

Building from Source

```bash

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Changelog for package automatika_ros_sugar

0.7.0 (2026-04-30)

• (chore) Adds tests for base attrs
• (fix) Adds check for any type fields in base attrs
• (feature) Adds display of action server logs in the main logging card (#46)
• (fix) Changes sleep time between probe service response checks to 1/loop_rate instead of arbitrary constant
• (feature) Adds on_process_fail method to launcher that respawns processes
  • Adds lifecycle service calling methods in monitor to respawn processes and handle lifecylce transitions
  • Creates unified timer for watching process start for initial launch and failed process launch
  • Uses internal launch actions for emitting the action to launch all components at init
• (fix) Adds a param to base config for executor spin timeout to decouple it from loop rate
• (feature) Adds ui display for geometry types when no map element is present
• (fix) Specifies callback in tf listener timer (#43)
• (chore) Adds testing for execute action service
• (feature) Calling the execute method service for component actions now returns the method response
• (chore) Adds testing CI
• (chore) Adds test for safe restart
• (feature) Adds the safe restart context manager in base component
• Contributors: Maria Kabtoul, ahr, mkabtoul

0.6.1 (2026-04-11)

• (docs) Adds a more comprehensive guide for the internal events-actions system design
• (fix) Adds guard to avoid redundant checks for handle once events
• (feature) Adds tests for generic events with and without dynamic arguments for Actions
• (feature) Adds generic events management to Monitor
• (refactor) Removes overhead of serializing/deserializing events in Monitor
• (feature) Adds support for constructing event conditions using generic methods in the recipe polled at a given check_rate
• (chore) Removes unused commented code
• (chore) Improves system graph colors in light theme
• (feature) Makes system graph draggable and resizable
• (fix) Fixes arrow heads pointing direction for input/output topics
• (fix) Fixes multiple issues with input topics in node graph
• (feature) Adds events and actions to the graph and adds events detail card
• (refactor) Refactors building system info and adds condition serialization to events
• (fix) Fixes fetching decorated methods in component
• (feature) Adds endpoints for system info graph
• (feature) Adds front end elements for system info graph
• (feature) Adds serialized system info generation in the launcher
• (fix) Removes unused imports
• (fix) Sets destroyed publisher object to None to avoid rclpy errors during restart
• Contributors: ahr, mkabtoul

0.6.0 (2026-04-05)

• (docs) Updates docs for the publishing pre-processor consistency and action decorators with description
• (fix) Moves feedback update period to UI node config
• (fix) Uses wait_until_first_feedback in action client send_request
• (fix) Minor fix in onclick button behavior
• (feature) Adds persistent connection handling for map topics in UI
• (fix) Updates Twist converter to use a single argument
• (fix) Fixes base action client goal acceptance check
• (feature) Extends the launcher to use robot, frames, inputs and outputs settings implemented in child packages
• (fix) Adds fix for uvloop ssl protocol bug by passing it asynio event loop
• (fix) Adds fixes for python3.8 compatibility
• (fix) Fixes null header values in HTMX websocket messages that crashes FastHTML
• (fix) Fixes running external processors on output
• (fix) Fix on_fail action validation in Launcher
• (chore) Fixes feedback messages logging in Task UI
• (feature) Adds helper method to format ros messages for logging
• (chore) Improves UI light theme colors
• (fix) Fixes feedback cleanup and scroll to bottom
• (fix) Fixes action client cleanup in UI node after task completed
• (fix) Fixes UI Task feedback ws sending in callback
• (fix) Fixes UI page reload on form start error
• (fix) Adds audio manager to UI only if an audio element is added
• (fix) Kills the feedback timer after a task is cancelled
• (fix) Changes certificate missing logging in ui node to warning
• (feature) Adds method to inspect component and to get available ros entrypoints
• (feature) Adds summarize method to component base config
• (fix) Tracks each component package and executable names in a dictionary by the Launcher
• (feature) Adds array_shape validator to base validators
• (fix) Fixes elements setup order in launcher
• (fix) Makes ui main action input return an error if called on a

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